v1.3 (2020/11/20)

This release brings various minor fixes or features to improve stability, performance or code readibility.

Major changes are reported below.

Core lib

  • Fix compilation on Windows with MSVC 2015 (!39)
  • Simplify KDTreePCLAdaptor usage and clean its code (!41)
  • Misc bug fixes and code refactoring in ICP functions (!43)
  • Fix ego motion extrapolation when using Pose Graph Optimization (!44)
  • Ignore Ego-Motion extrapolation, approximated undistortion and Localization results if error occurs (!49 and !52)
  • Replace max variance error by max position and orientation errors (!47)
  • Fix rolling grid and maps update (!50, !55, !58)
  • Add missing std prefix in PointCloudStorage that prevente compilation on some machines (!42)
  • Add colors to verbose display (!53)
  • Major refactoring of ICP and LM optimization parts into separate classes (!54)
  • Reset timers values when resetting SLAM (!63)

ROS wrapping

  • Publish SLAM pose as gps_common/GPSFix instead of sensor_msgs/NavSatFix (!45)
  • Publish SLAM-estimated speed in GPS-like message (!46)

ParaView wrapping

  • Add verbose timings to check VTK <-> PCL conversions and perform less maps updates (!48)
  • Fix frame stamp to last point measurement time (!49)